WO2019044124A1 - Système de visualisation d'image vidéo à points de vue multiples et système de caméra - Google Patents

Système de visualisation d'image vidéo à points de vue multiples et système de caméra Download PDF

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Publication number
WO2019044124A1
WO2019044124A1 PCT/JP2018/023191 JP2018023191W WO2019044124A1 WO 2019044124 A1 WO2019044124 A1 WO 2019044124A1 JP 2018023191 W JP2018023191 W JP 2018023191W WO 2019044124 A1 WO2019044124 A1 WO 2019044124A1
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Prior art keywords
camera
image
unit
video
central
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PCT/JP2018/023191
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English (en)
Japanese (ja)
Inventor
大樹 梶田
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大樹 梶田
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Publication date
Priority claimed from JP2017169185A external-priority patent/JP6933935B2/ja
Application filed by 大樹 梶田 filed Critical 大樹 梶田
Priority to CN201880057495.8A priority Critical patent/CN111095920A/zh
Priority to US16/643,880 priority patent/US11678950B2/en
Priority to EP18849531.1A priority patent/EP3681150A4/fr
Priority to PCT/JP2018/042313 priority patent/WO2019130889A1/fr
Priority to JP2019562838A priority patent/JP7244926B2/ja
Publication of WO2019044124A1 publication Critical patent/WO2019044124A1/fr

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/361—Image-producing devices, e.g. surgical cameras
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/30—Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/10—Image acquisition
    • G06V10/12—Details of acquisition arrangements; Constructional details thereof
    • G06V10/14—Optical characteristics of the device performing the acquisition or on the illumination arrangements
    • G06V10/141—Control of illumination
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/20—Image preprocessing
    • G06V10/25—Determination of region of interest [ROI] or a volume of interest [VOI]
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/40—Scenes; Scene-specific elements in video content
    • G06V20/46—Extracting features or characteristics from the video content, e.g. video fingerprints, representative shots or key frames
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
    • G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
    • G06V40/107—Static hand or arm
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/282—Image signal generators for generating image signals corresponding to three or more geometrical viewpoints, e.g. multi-view systems
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/63—Control of cameras or camera modules by using electronic viewfinders
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/63—Control of cameras or camera modules by using electronic viewfinders
    • H04N23/631—Graphical user interfaces [GUI] specially adapted for controlling image capture or setting capture parameters
    • H04N23/632—Graphical user interfaces [GUI] specially adapted for controlling image capture or setting capture parameters for displaying or modifying preview images prior to image capturing, e.g. variety of image resolutions or capturing parameters
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/67—Focus control based on electronic image sensor signals
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00—Details of television systems
    • H04N5/222—Studio circuitry; Studio devices; Studio equipment
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B2090/364—Correlation of different images or relation of image positions in respect to the body
    • A61B2090/365—Correlation of different images or relation of image positions in respect to the body augmented reality, i.e. correlating a live optical image with another image
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/371—Surgical systems with images on a monitor during operation with simultaneous use of two cameras
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A61B2090/502—Headgear, e.g. helmet, spectacles

Definitions

  • the present invention relates to a system for capturing an image of a procedure such as a surgical operation with a multi-viewpoint camera and selecting an image to be displayed on a monitor display.
  • Non-Patent Document 1 a nailed viewing interface centered on a target of view has already been proposed as a viewing interface in which the viewpoint can be easily selected from free directions in multi-viewpoint video content.
  • Non-Patent Document 1 a viewing interface in which the viewpoint can be easily selected from free directions in multi-viewpoint video content.
  • this assumes that the entire human body performing sports, performing arts, etc. is viewed from all angles, and it is assumed that it is viewed from all angles focusing on the operation of the practitioner's hand. Absent. If there is no obstacle between the camera and the shooting target, the shooting target is included no matter which video is selected, so it does not matter if any video is included in the viewpoint option.
  • a practitioner is, for example, a surgeon, "manufacturer, furniture maker, cutlery maker, carpenter, carpenter, charcoal maker, woven fabric engineer, glass product manufacturer, ceramic engineer, seven treasure works, brick, Straw manufacturing industry, casting industry, candle manufacturing industry, mold making industry, etc.
  • the viewing interface when viewing the content of the multi-view video of the operation at hand such as a surgical operation, it is desirable that in the viewing interface, the video whose hand is obscured by the obstacle is excluded from the options.
  • lighting is used during medical procedures such as surgery, and this lighting is used to prevent the shadow of the practitioner's body, in particular, the head, arms, hands, etc., and surgical instruments, in the affected area.
  • No-effect lamps are usually used.
  • a circular support base attached to the tip of an arm suspended from a ceiling and movable and tilted, a central light disposed at the center of the support base, and a periphery of the central light
  • a structure having a plurality of ambient lights attached to the support base is used.
  • Patent Document 1 Japanese Patent Application No. 11-267663 (Patent Document 1) and Japanese Patent Application No. 2016-518657 (Patent Document 2) have been proposed as an example in which a camera is provided with a shadowless lamp, and a position close to the central light source of the shadowless lamp Or, a camera is provided in the inside of the handle portion that operates the shadowless light.
  • Kenji Mase Shosuke Tokai, Tetsuya Kawamoto, Toshiaki Fujii, "A Study on the Nailed Viewing Method of Multi-view Images and the Design of Operation Interface," Proceedings of the Human Interface Society, Vol. 11, No. 1, pp. 7-12, 2009.Mar.10-11.
  • the affected area is disinfected, and the patient lying on the surgical bed is covered with a sterile cloth, and the practitioner and the sending nurse wear a sterile gown on the surgical gown,
  • An instrument stand for placing a sterile surgical instrument is disposed around the periphery.
  • the camera is not permitted to touch these sterile people or objects when taking pictures of the diseased area to be treated, and the camera may be placed just above the affected area or even further away from the sterile people or objects.
  • the shadowless lamp is usually placed just above the treatment target area. If the camera is located just above the affected area, the circling nurse who can manipulate the position of the camera does not wear a sterile gown, making it difficult to access the camera without touching sterile people or objects. is there.
  • Patent Document 1 and Patent Document 2 although only one camera is provided for the shadowless lamp, illumination is applied to the treatment target affected area, but the head of the practitioner or between the camera and the treatment target affected area. There may be a situation where visual field disorder occurs due to the presence of an obstacle such as a hand. At this time, it is necessary to manipulate the position of the camera in order to photograph an affected area to be treated avoiding an obstacle, but in both Patent Document 1 and Patent Document 2, the camera and the surgical lamp are in the same housing. Because it is equipped with it, when operating the position and direction of the camera according to the operation of the practitioner, the position and direction of the shadowless lamp changes in conjunction with this, and it is difficult to lose the illumination on the treatment target area Produces
  • the most necessary information is the content of the medical operation to the affected area, and in order for the viewer of the photographed video to accurately grasp it at any time, It is necessary to perform imaging of the treatment target area while avoiding visual field impairments of imaging such as the head, body, arms and hands of the person.
  • the present invention has been made in view of the above-described needs and circumstances, and it is an object of the present invention to provide a method in which a video which can not be seen at hand is previously removed from options in viewing multi-view video content. Provide a multi-view video viewing system.
  • the present invention has been made in view of the above-described needs and circumstances, and the object of the present invention is to focus on surgery without the practitioner being aware of radiography, and to treat the affected area to be treated.
  • An object of the present invention is to provide a camera system which can complete imaging and in which an affected area is shown with high probability in any of the imaged images.
  • an information processing apparatus performs image recognition for a hand on image data captured by a plurality of video cameras and moving image (video) data which is a frame sequence arranged in a time domain.
  • video moving image
  • the video displayed on the video display unit is sorted in advance and presented to the viewer.
  • the range of illumination by the light source is within the range photographed by the camera, and a plurality of the camera units are arranged to obtain a shadowless lamp.
  • a camera mechanism having a shadowless light for photographing an affected area during medical treatment such as surgery to achieve the above object, and a camera having a monitor mechanism for displaying an image photographed by the camera mechanism.
  • the camera system with a shadow light is similar in general form to a shadow light generally used in surgery, has a plurality of light sources, and is similar in movement and inclination to a general shadow light.
  • a control handle capable of mounting a sterilizing cover substantially at the center of the entire base, a central camera unit at the center of the entire base, and at least one peripheral camera unit around the central camera unit It is characterized by The overall form and configuration are similar to a general surgical light, and a practitioner can illuminate the affected area in a sense of operating a general surgical light.
  • the surrounding camera unit includes the surrounding camera in the vicinity of the plurality of light sources provided in each of the plurality of light sources since the direction of illumination of the light source matches the direction of photographing of the surrounding camera.
  • Images from multiple cameras are input to the monitor mechanism, and the image displayed on the display device by the central camera is desirable in the initial setting, but depending on the situation of the operation, the image from the surrounding cameras has more information
  • the operation device provided in the monitor mechanism it is possible to switch the image of the display device or simultaneously display a plurality of images.
  • the first invention of the present application provides a function to support effective viewing of multi-view images related to procedures such as surgery, etc. by the above configuration, and the hand is hidden by an obstacle or a camera Images that do not appear out of the field of view, which have no information value in advance, are excluded from options in advance, or a large number of hands, such as images with a large information value such as those appearing near the center of the screen By preselecting and presenting the information, an effect of reducing stress when the viewer selects an appropriate image from many options is expected.
  • the second invention of the present application is to provide a function to support the effective use of moving images related to medical treatment such as surgery, with the above configuration.
  • the practitioner can complete imaging of the affected area just by operating in the same sense as operating a conventional shadowless lamp without being conscious of imaging. There is no need to allocate personnel for shooting. -When the visual field of the camera is obstructed by the obstacle, the illumination of the light source will not reach the treatment target area at the same time, so the practitioner can notice the occurrence of visual field disturbance and the camera mechanism with shadowless light to illuminate Movement and tilting can also improve visual field impairment.
  • JP-A-2012-120812 proposes means for combining an operating light with a video camera system that outputs multi-viewpoint images with a plurality of video cameras. Simply using this method for medical surgery that deals with the whole body can not achieve good imaging.
  • the structure of at least the depth to the molar with a plurality of cameras through the cleft of the mouth at the entrance of the oral cavity and between the upper and lower incisors So, you need to place a video camera.
  • Cleft lip is as wide as about 6 cm in adult men, the distance between the upper and lower incisors is up to about 5 cm, and the depth to the third molar is also about 6 cm.
  • the shadowless lamp is at a distance of 60 to 70 cm from the patient even if it is high.
  • the distance between cameras needs to be arranged within about 15 cm.
  • the camera should be located closer.
  • the camera is separated by a distance smaller than the width of the head of the operator who can cause visual field disorder during the operation, and it is difficult to photograph the affected area in the medical operation.
  • the treatment target is wider than dental treatment, and the number of staff involved in treatment is also large.
  • the shadowless lamp is at least about 50 cm in size It is necessary to provide a light source in the area of Unless the positional relationship between the camera and the light source is noted, when the shadowless lamp is equipped with a plurality of cameras, as described above, although the illumination target is applied to the treatment target area, a situation occurs in which the camera is not photographed . In order to be aware of this situation, it is necessary for a third party to monitor the display, and in order to recover from the situation where shooting is not achieved, it is also necessary to manipulate the position and direction of the camera together with the shadowless light. This may interfere with the progress of the treatment and may cause harm to the patient.
  • the area of the hand included in the image is detected, the center point of each area is determined, the average point is calculated from the average of the coordinates of the center point of each area, and the center point of the image It is a figure which shows an example of the process of calculating the distance of.
  • the area of the hand included in the image is detected, the center point of each area is determined, the average point is calculated from the average of the coordinates of the center point of each area, and the center point of the image It is a figure which shows an example of the process of calculating the distance of.
  • FIG. 7 is a schematic view of a camera system according to a second invention embodiment of the present application. It is a figure which shows the structure which selects the imaging
  • the operation handle is equipped with a light source, angle of view, automatic adjustment of focus, recording unit, operation device of recording device, focal length operation device activates automatic adjustment of focus by input from example of operation device of monitor mechanism or tilting of unit base 1 is an example embodiment of the inventive device. It is a figure which shows the structure which cuts out several recorded video and audio
  • FIG. 1 three images obtained by capturing an object 10 with three video cameras including one main camera 12 and two sub-cameras 14 are sent to the image acquisition unit 22 of the information processing apparatus 20, and the control unit 24 Shows an embodiment of the present invention in which one image is selected, sent to the image display unit 34 and sent to the display device 40.
  • the number of video cameras is two or more, and there is no upper limit.
  • Each camera is assigned a camera ID, and simultaneously transmits the image data to which the same time information is added, to the image acquisition unit 22 together with its own camera ID information.
  • the image data sent from the control unit 24 to the video display unit 34 at a certain point in time is image data including hand image data of which the hand is recognized by the image recognition unit 26 among a plurality of image data input to the image acquisition unit 22 Is selected and sent by the image (video) selection unit 32, and the number of image data is not limited to one, and a plurality of image data may be selected.
  • the information processing device 20 and the display device 40 may be PCs, or may be smartphones or tablet terminals.
  • FIG. 2 is a flowchart showing an example of an algorithm in the image (video) selection unit 32 in the control unit 24.
  • an image captured in time synchronization with each video camera is sent to the image acquisition unit 22 of the information processing apparatus 20 and delivered to the control unit 24.
  • the control unit 24 recognizes a recognition area, which is an area where a hand is displayed on the image in a frame at a certain point in time, in the image recognition unit 26 for each of the delivered image data (step S1, FIG. 4, 52, 54, 56, 58).
  • image recognition conventionally, with an imaging device such as a digital camera or digital video camera, a human face or hand is detected from the image, and the detected face is tracked to focus or focus on the detected hand movement.
  • APIs application programming, API, such as Cloud Video Intelligence provided by Google, Video Indexer provided by Microsoft, etc.
  • An interface is mentioned.
  • image data obtained using a thermography that can visually display the temperature distribution as an image, a depth camera that can acquire distance information to the subject as an image, etc. is adopted as an object of image recognition that recognizes a hand. May be
  • the counting unit 28 counts the number of recognition areas of each image data (step S2).
  • the average point calculator 30 calculates the coordinates of the average point from the recognition area of each image data (step S3, 70 in FIG. 6). The method of calculating the average point will be described later.
  • the image (video) selection unit 32 first confirms the maximum value of the number of recognition areas (step S4). If the hand is not recognized in any of the image data, that is, if the number of recognition areas is 0 in any image data, the main video which is the video of the main camera 12 is selected (step S9) , And the video display unit 34.
  • the main camera 12 can redefine one of the sub-cameras 14 as the main camera 12 according to the viewer's operation or a computer algorithm, and at the same time, the main camera 12 is replaced with the sub-camera 14 It is possible.
  • step S4 the image data with the maximum number of recognition areas is selected (step S5). At this time, it is checked whether there is a plurality of image data to be selected (step S6). If there is only one piece of image data for which the number of recognition areas has the maximum value, a video including this image data is selected and transmitted to the video display unit 34. If there are two or more pieces of image data for which the number of recognition areas is the maximum value, for each of these images, the distance to the center point of the image is calculated from the coordinates of the average point (90 in FIG. 7) Is selected and transmitted to the image display unit 34.
  • FIG. 3 is a flowchart showing an example of an algorithm for calculating the coordinates of the average point from the recognition area of each image data in the average point calculation unit 30.
  • the number of recognition areas obtained by the counting unit 28 is confirmed for each image data (step S31).
  • the average point is not calculated for the image data in which the number of recognition areas is 0, that is, the hand is not recognized (step S36). If the number of recognition areas is one or more, the coordinates of the central point of each area are calculated from the coordinate information of the recognition area detected by the image recognition unit 26 (step S 32.
  • a rectangular area is recognized in FIG. 5) An example of the case is shown, where the center point is equal to the coordinate that is the average of the coordinates of the four corners of the rectangle).
  • step S33 it is checked whether the number of recognition areas is two or more (step S33). If the number of recognition areas is 1, the center point of this area is the average point of this camera image (step S35). If the number of recognition areas is two or more, an average value is calculated from all the coordinates of the central point of each recognition area, and this is defined as the coordinates of the average point (step S34, 70 in FIG. 6).
  • the algorithm shown in FIG. 2 and FIG. 3 is an example, and even if the order of each step is changed or steps are added or deleted, an expected result, that is, an image in which a hand is not recognized is selected.
  • the present invention can be included in the scope of the present invention as long as it is an algorithm in which there is no or a video including many hands, or a video in which the hands are arranged so as to surround the center of the video.
  • control unit 24 it is not necessary for the control unit 24 to perform processing of selecting a video from image recognition for the video sent to the image acquisition unit 22 to be the image data of all the frames, and the time interval of processing is performed May be adjusted by the viewer's choice or computer algorithm, such as every 5 seconds, every 10 seconds, etc.
  • FIG. 4 is a view showing an example of recognition areas 52, 54, 56, 58 which are areas in which the hand is recognized by the image recognition unit 26.
  • the recognition area is a rectangle, it may be in any form such as an ellipse or a polygon as long as it is mechanically recognized.
  • a rectangle is shown on the screen for the sake of clarity, as an actual user interface, the rectangle may not be displayed on the display device, as long as computer processing is performed internally.
  • the hand may be targeted for treatment, and in this case, it is not desirable to include the hands to be treated in the recognition area. Therefore, in the image recognition means, a hand that can wear a glove and a hand that can not wear a glove may be used in distinction.
  • FIG. 5 is a diagram showing an example in which the center points 62, 64, 66, 68 of the recognition areas 52, 54, 56, 58 are obtained by the average point calculator 30.
  • the central points 62, 64, 66, 68 may be determined by averaging the coordinates of the four corners of the rectangle, or the diagonal intersection may be determined. .
  • There are many other ways of determining the center point but any method may be used as long as a point that is the same as or similar to the center point is calculated as a result. If the recognition area is not rectangular, the area of the recognition area may be calculated, and the point that is the center of gravity may be used as the central point.
  • FIG. 6 is a view showing an example in which the average point 70 of the central points 62, 64, 66, 68 is obtained by the average point calculator 30.
  • the coordinates of the average point 70 may be calculated as coordinates obtained by calculating an average value of the central points 62, 64, 66, 68 from the values of the respective coordinates.
  • FIG. 7 is a view showing an example in which the distance between the average point 70 and the center point 60 of the image is obtained by the image (video) selecting unit 32 from the coordinates of the average point 70 calculated by the average point calculating unit 30. It is. In addition, although the distance in this figure shows what was calculated in consideration of both x coordinate and y coordinate, for example, you may calculate using either one of x coordinate or y coordinate. Also, the distance 90 between the average point 70 and the point 80 at the center of the image may be determined by the image (image) selection unit 32 as described above, or the average point calculation unit 30 may be used in advance. The distance 90 between the average point 70 and the center point 80 of the video may be calculated, and in this case, the value of the distance 90 is passed to the image (video) selection unit 32 and used for video selection. May be
  • FIG. 8 illustrates an embodiment of the present invention in which the camera system 110 comprises one central camera unit 116 and six peripheral camera units 126.
  • the light source of the shadowless light is not essential for the light source 124 of the central camera unit, and the light source 132 of the peripheral camera unit may be arranged to surround the peripheral camera 130 as in the embodiment of FIG. It may be arranged as follows.
  • the central camera 122 may be juxtaposed to the operating handle 120 as in the embodiment of FIG. 8 or may be installed in the operating handle.
  • the image of each camera is displayed on the display device 142 of the monitor mechanism 140.
  • the number of shadowless camera mechanisms 112 and monitor mechanisms 140 is at least one to one, but may be many to one, one to many, or many to many.
  • the monitor mechanism 140 is not limited to the case where it is fixed to the wall in the operating room, or the case where it can be moved by being placed on a cart, and when it is installed in the operating room or the staff room of the medical office via the hospital network For example, it may be installed in another facility, and the situation of surgery may be viewed as live surgery via the Internet.
  • An image to be displayed on the display device 142 can be selected using the operation device 144.
  • the operation device 144 is a button installed on the monitor mechanism 140, a mouse or a keyboard, or the display device 142 is a touch panel, it is a remote controller wirelessly connected to the monitor mechanism 140 , It may be a combination of these.
  • the display device 142 can magnify and display a part of the displayed image, and when the affected area to be treated is small, the affected area can be selected and enlarged and displayed. . This allows the user to select an area to be enlarged by displaying a pointer on the display device 142 and operating it with a mouse or the like, or by the display device 142 being a touch panel.
  • FIG. 9 shows a configuration in which the operation device 144 selects an image to be displayed on the display device 142 out of the images of the central camera 122 and the six peripheral cameras 130.
  • the present invention provides a means for selecting, displaying, and enlarging a plurality of photographed images by the monitor mechanism. Display on / off can be designated for each of the images, and if not designated, only the image of the central camera 122 is displayed on the display device 142.
  • the screen area of the display device is automatically divided according to the number of cameras specified as ON, and the images are displayed side by side. However, the ratio of the division size and the arrangement order of each image are the operation device 144 Can be adjusted. Also, with respect to the video displayed in each divided area, the video can be enlarged.
  • FIG. 10 shows a configuration in which the recording unit 162 simultaneously inputs the images of the central camera 122 and six surrounding cameras 130.
  • a switch (not shown) for operating start and stop of recording is provided, and operation of one switch is used to start and stop recording of all cameras.
  • the switch may be provided in the recording unit, provided in the operation handle 120 illustrated in FIG. 1, provided in the remote controller, or a combination of these.
  • a plurality of images captured simultaneously by the central camera 122 and the two peripheral cameras 130 are recorded in the recording device 164 with the common shooting date and time 166 added, and any combination is made via the output means 168
  • a plurality of moving images are simultaneously reproduced by aligning the shooting date and time signal Sg1 from the recorded shooting date and time signal adding device 166, and an image is displayed on the display device 142 of the monitor mechanism 140.
  • a means for simultaneously recording a plurality of video images simultaneously and in parallel, and a means for simultaneously reproducing and outputting the plurality of recorded video images in time for shooting, in order to eliminate this labor and time provide.
  • the central camera 122 is configured to surround the central camera 122 with three or more peripheral cameras 130 for effective imaging to avoid the possibility of visual field obstruction. Is desirable.
  • the recording unit 162 may be configured separately from the monitoring mechanism 140 as illustrated in FIG.
  • the output unit 168 is provided in the recording unit 162 as illustrated in FIG. 11, in the situation where the recording unit 162 is incorporated in the monitor mechanism 140, the operating device 144 may It may be possible to play a role.
  • the output destination of the moving image is the display device 142 as illustrated in FIG. 11, similar to the example illustrated in FIG. 2 via the operation device 144 while simultaneously reproducing a plurality of moving images output simultaneously.
  • the output destination is not a display but a storage medium such as a DVD.
  • an arbitrary moving image is selected from a plurality of moving images and output as an independent moving image file, or There may be a case where a moving image of a combination of is arranged and displayed in an arbitrary arrangement as one moving image file.
  • FIG. 12 shows an embodiment in which the link unit 182 mechanically links the operating handle 120 and the tilting unit 184 of each peripheral camera unit 126 and operates the tilting unit 184 by the rotation of the operating handle 120.
  • the link device 182 may use a bevel gear or a helical gear (not shown) to change the direction of the rotational force and mechanically transmit the force to the tilting unit 184.
  • the surrounding camera unit 126 is circular, and it is illustrated as tilting to the center of the camera mechanism with shadowless light 112 by rotating around an axis corresponding to the diameter of this circle.
  • the shape of the unit 126 is not limited to a circle, and the tilting center or fulcrum may be offset from the center of the surrounding camera unit 126 as long as the tilting method is with respect to the center of the shadowless camera mechanism 112.
  • the link device 182 may be an electric signal transmitting electronic signals and operating a motor provided in the tilting unit 184 to achieve tilting.
  • FIG. 13 shows an embodiment of guide light for irradiating the object to be photographed 190 when the camera mechanism with a shadow light is provided with a guide light irradiation device for notifying the direction of the image of the camera.
  • the guide light should be a combination of linear light and display a pointer that points in one direction to a particular direction of the image, and in this example the arrowhead indicates 192 vertically above, but this form is arbitrary . If the inclinations of the images of a plurality of cameras are parallel to the horizontal direction, one guide light irradiation device is sufficient, but otherwise, the camera units may be provided one by one. It is desirable that the irradiation of the guide light is automatically output when the shadowless camera mechanism is moved and tilted, and automatically turned off after a predetermined time has elapsed. An acceleration sensor is used to detect the movement and tilting of the shadowless camera mechanism.
  • the occurrence of these motions is detected by means such as an internal sensor that measures the movement and tilting of the camera mechanism with a shadowless light and the angle of joints necessary for tilting the surrounding camera unit as well as the acceleration sensor.
  • the guide light needs to ensure safety to the human body, in particular to the eye.
  • FIG. 14 shows an embodiment of the present invention in which the camera mechanism 112 with shadowless light is provided with the microphone 202, and the recording device 204 and the audio output device 206 are provided with the microphone 202 for outputting sound.
  • staff conversations are also important information.
  • the content of the instruction is worth sharing to the operating room nurses and visitors, the volume of the practitioner's speech may not be sufficient and may not be heard by the surrounding people.
  • FIG. 7 exemplifies the case where the microphones 202 are juxtaposed to the operation handle 120, for effective sound collection, the microphone 202 is installed near the tip of the operation handle 120 near the practitioner. Is desirable.
  • the microphone 202 has a noise canceling function because sounds generated by medical equipment such as an electrocardiogram and blood oxygen saturation may be heard in the operating room. It is desirable to be a unidirectional microphone along the direction of illumination and shooting.
  • FIG. 15 shows an embodiment of the present invention in which a microphone 202, an audio output device 206 and a recording device 204 are added to FIG.
  • the voice output device 206 may be provided independently of the monitor mechanism 140 as shown, or may be a device worn by a staff like an earphone. It is desirable that the recording device 204 be incorporated in the recording unit 162 as shown in the drawing and perform recording by adding the same shooting date and time 166 as the moving image to be recorded simultaneously. When outputting a moving image, it is possible to output the moving image and the sound simultaneously by aligning the shooting date and time 166 via the output means 168. By arranging a common shooting date and time 166 and reproducing a plurality of moving images and sounds, it is possible to switch screens to another camera's video without time lag or simultaneously display the images.
  • FIG. 16 shows an embodiment of the present invention in which the central camera 122 of the shadowless camera mechanism 112 is a half sphere camera or a stereo camera or an infrared camera 222 and any camera 222 is provided at the tip of the operation handle 120. is there.
  • the present invention provides a means for acquiring a wide range of images with a semi-spherical camera.
  • a central camera may be provided in the central camera unit 116 separately from the semi-spherical camera, but also in this case, in order to obtain an image without video impairment over 360 °,
  • the semi-spherical camera is preferably installed at the tip of the operation handle 120.
  • the monitor mechanism 140 in FIG. 1 is omitted in FIG. 9 and illustrated, the image of the semi-spherical camera 222 is also input to the monitor mechanism 140 in the same manner as the other cameras. Adjustment of the expansion range is possible.
  • the information obtained in the two-dimensional display image is inferior to the information obtained in the three-dimensional display image.
  • the present invention provides a means for displaying an image in three dimensions by the stereo camera 222.
  • a stereo camera When a stereo camera is used, it can be selected by the operation device 144 of the monitor mechanism 140 whether the image of the display device 142 is displayed two-dimensionally or three-dimensionally.
  • the stereo camera may be a combination of any two of the central camera 122 or the peripheral camera 130, or any one or more cameras may be stereo cameras.
  • an affected area to be treated is often evaluated using an infrared camera. At this time, it is time-consuming to put an infrared camera in a sterile bag near the affected area and carry it for imaging.
  • the present invention provides a means for displaying the image of the infrared camera by omitting this trouble. When an infrared camera is used, it is only necessary that one of the central camera 122 or the peripheral camera 130 is an infrared camera or it can be switched to an infrared camera.
  • FIG. 17 is provided with switches 234, 236, 242, 246, and 248 on the side of the operation handle 120, and is operated by the practitioner during the operation to transmit the light source, the angle of view, and the focus of each camera via electronic signals.
  • the switching of the operation of the automatic adjustment function, the recording and the start and stop of the recording can be performed, and the automatic adjustment function of the focus of each camera can also be operated by detecting the tilting of the unit substrate 244 of the present invention
  • the structure in an Example is shown.
  • the camera setting, recording, and recording operations can not be performed by staff wearing sterile gowns, so there is a shortage of personnel in the operating room and there are no staff who do not wear sterile gowns. It was difficult.
  • the present invention provides a camera system provided with a light source, an angle of view of a camera, an auto focus setting, a recording, and a recording operation in a handle portion to which a sterile cover is attached in a general shadowless light.
  • the operating handle 20 is equipped with a sterile cover so that it can be operated by a practitioner wearing a sterile gown when performing surgery.
  • the cover is made of a transparent and soft material such as vinyl or thin plastic so as not to affect the operation of the switches 234, 236, 242, 246, and 248.
  • the positions of the switches 234, 236, 242, 246, 248 are erroneous when the operating handle 120 is touched to move and tilt the whole of the shadowless camera mechanism or to tilt the surrounding camera unit.
  • the switches 234, 236, 242, 246, 248 so as not to operate.
  • Motion or tilting of the surrounding camera unit 126 or detection of the tilting of the surrounding camera unit 126 can be detected for any of these motions using an acceleration sensor provided in any of the surrounding camera units 26. Therefore, it is desirable to use an acceleration sensor.
  • the motion is not limited to an acceleration sensor, but may be generated by means such as movement or tilting of the shadowless camera mechanism 12 or an internal sensor that measures the angle of a joint necessary for tilting the surrounding camera unit 126. There is also a possibility of detection.
  • FIG. 18 shows that when outputting a plurality of recorded moving images 252 and 254 and audio 256 to an external recorder, the data is not output over the entire recording time, but the imaging time range T1 to T2 7 shows an embodiment of the present invention in which each data is cut out as data within the time range at the same position, and voices are synthesized with each moving image and output.
  • the same shooting date and time data is shared in any moving image data or audio data, so if specifying the time range T1 to T2 for cutting out data, batch It is possible to divide a plurality of moving image data in
  • FIG. 19 is a flow chart showing an example of an algorithm for switching an image when the display device recognizes an image failure. If the staff who are not wearing a sterile gown who operates the monitoring mechanism is not in the operating room, it is difficult to switch the image displayed on the display, and if a surgical assistant or an instrumented nurse wants to switch the image. It causes inconvenience.
  • the present invention provides a camera system provided with means for detecting that the displayed image does not display the treatment target affected area due to image failure and automatically switching to another image. As described in FIG. 2, when the designation of the image is not performed, the image of the central camera is displayed on the display device (step S1).
  • the display device can detect from the configuration of the pixels of the video that the video to be displayed is not likely to display the affected area, and can automatically switch to the video of another camera.
  • the pixels of the image of the external diseased area are large in the range composed of skin color and red, etc., and the pixels of the image displayed when the affected area is not photographed are clean cloth or the like covering the periphery of the affected area. It may be blue or green, which is the general color of surgical clothes and hats, or green, which is the color of practitioner gloves.
  • the display device recognizes that a video failure has occurred when blue and green pixels occupy a certain range of the video (step S2). If YES in step S2, a monitoring time timer is set (step S3).
  • step S4 recognition of whether or not the video failure continues is continued. If the image failure has disappeared, the result of the step S5 is YES, and the display of the image of the central camera is continued. If the video failure continues, the determination in step S5 is NO, and monitoring of the video failure is continued until the timer set time elapses. If the timer set time has elapsed while the image failure continues, The determination in step S4 is YES, and the image is automatically switched to another camera image and displayed (step S6).
  • the displayed image it is possible to similarly detect an image failure and automatically switch to an image of another camera.
  • the recognition of the image failure is simultaneously performed for each image when a plurality of images are displayed simultaneously. In addition, even with respect to a video not being displayed, it is possible to designate a video to be switched to as a video without video failure by similarly monitoring the video failure in the background.
  • FIG. 20 shows a configuration example of the present invention in which a distance measurement device 272 is provided in the vicinity of the central camera 122 and each surrounding camera 130 and the CPU 274 provided in the monitor mechanism 140 automatically selects an image to be displayed on the display device 142.
  • a distance measurement device 272 is provided in the vicinity of the central camera 122 and each surrounding camera 130 and the CPU 274 provided in the monitor mechanism 140 automatically selects an image to be displayed on the display device 142.
  • laser class 1 near infrared radiation
  • each distance measuring device 172 is transmitted to the CPU 274, and the CPU 274 measures the measured value in the situation in which the affected area is being treated, and if this value greatly changes over a fixed time, the distance It is possible to control the image of the cameras 122 and 130 located in the vicinity of the measuring device 274 not to be displayed on the display device 42.
  • the contents of the moving image data 282 and the audio data 288 are automatically recognized by the moving image recognition means 284 and the speech recognition means 290, respectively, character string data is created, and tag information of the character string is added to photographing time information
  • the structure of the present invention for creating data 286, 292 is shown.
  • the recorded moving images are long-time, the overall color tone and composition are often monotonous, and it is often difficult to identify the recording time of the surgical scene that you want to reproduce.
  • the viewer of the moving image manually adds tag information to the moving image as a means for this, it takes a great deal of time and effort.
  • a scene to be reproduced can be retrieved by automatically recognizing recorded video and audio mechanically and adding tag information of a character string to time information of data, thereby enabling retrieval of time information of recording.
  • Specific examples of the video recognition means 284 and the speech recognition means 290 include Cloud Video Intelligence and Cloud Speech APIs (application programming interfaces) provided by Google, respectively.
  • the video data 182 and the voice data 188 include patient information, it is necessary to obtain patient's permission in advance when using this API, which requires communication with Google's server. is there. In order to carry out the present invention without going through an out-of-hospital network, it is required to operate a motion picture recognition means 284 and a speech recognition means 290 in the hospital.

Abstract

La présente invention a pour but de fournir un système de visualisation d'image vidéo à points de vue multiples dans lequel, lors de la visualisation d'un contenu d'une image vidéo à points de vue multiples, une image vidéo, dans laquelle la zone entourant une main est invisible, serait éliminée des options à l'avance. Pour atteindre ce but, la présente invention, concernant des données d'images photographiées par une pluralité de caméras vidéo et des données d'image animée (image vidéo) qui sont une séquence de trame disposée dans un domaine temporel, consiste à sélectionner une image vidéo dans laquelle la main est affichée ou à ne pas sélectionner une image vidéo dans laquelle la main n'est pas affichée, au moyen d'une reconnaissance d'image de main qui est effectuée par un dispositif de traitement d'informations, de telle sorte que l'image vidéo qui sera affichée par une unité d'affichage d'image vidéo est classée à l'avance afin d'être présentée à un spectateur.
PCT/JP2018/023191 2017-09-04 2018-06-19 Système de visualisation d'image vidéo à points de vue multiples et système de caméra WO2019044124A1 (fr)

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CN201880057495.8A CN111095920A (zh) 2017-09-04 2018-06-19 多视点影像观看系统及照相机系统
US16/643,880 US11678950B2 (en) 2017-09-04 2018-06-19 Multiple-viewpoint video image viewing system and camera system
EP18849531.1A EP3681150A4 (fr) 2017-09-04 2018-06-19 Système de visualisation d'image vidéo à points de vue multiples et système de caméra
PCT/JP2018/042313 WO2019130889A1 (fr) 2017-12-26 2018-11-15 Dispositif d'affichage vidéo d'opération, procédé de commande pour dispositif d'affichage vidéo d'opération, et programme
JP2019562838A JP7244926B2 (ja) 2017-12-26 2018-11-15 手術映像表示装置、手術映像表示装置の制御方法、及びプログラム

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JP2017169185A JP6933935B2 (ja) 2017-09-04 2017-09-04 カメラシステム
JP2017-248945 2017-12-26
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CN116091366B (zh) * 2023-04-07 2023-08-22 成都华域天府数字科技有限公司 一种多维度拍摄手术视频及消除摩尔纹的方法

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EP3681150A4 (fr) 2021-01-13
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